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I deliver pizza right now as a part time job. At my place we charge a $1 delivery fee. If the driver is new (less than 2 weeks) they do not get the $1. If they have worked there for 2wks-4wks they get 50 cents of the $1. After 4wks they get the entire $1. On top of that we get paid $5/hr and keep all of our tips. However we do use our own vehicles and pay for our own gas. By my calculations the $1 we get per delivery pretty much covers gas + wear and tear. So yes you should still tip because if you didn't we would only make $5/hr after expenses. Which is less then minimum wage and would suck.
Pizza guy LOVES it when I order pizza for the program. I usually tip $1 per box... = $20-30 in tips I even get someone to help carry the boxes down to the cafeteria with him